EP1037189B1 - Method to display objects for vehicle - Google Patents
Method to display objects for vehicle Download PDFInfo
- Publication number
- EP1037189B1 EP1037189B1 EP00104412A EP00104412A EP1037189B1 EP 1037189 B1 EP1037189 B1 EP 1037189B1 EP 00104412 A EP00104412 A EP 00104412A EP 00104412 A EP00104412 A EP 00104412A EP 1037189 B1 EP1037189 B1 EP 1037189B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- objects
- display
- image
- behind
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Definitions
- the invention relates to a method and a device for displaying objects which are located in front of or behind a vehicle, in particular objects which approach from behind or to which the vehicle approaches when driving backwards.
- DE 19 70 793 describes the registration and storage of objects located behind the vehicle for preserving evidence in the event of a hazard or accident.
- the patent application DE 43 45 147 proposes to record the rear area with a video camera and reproduce the image on a monitor. This is to support or replace the function of the rearview mirror.
- JP 09048282 A discloses a system for the indirect visual confirmation of objects approaching a vehicle from behind.
- a picture of the rear vehicle compartment is taken by means of a camera.
- An image analysis then analyzes the image for objects that require a security confirmation. These objects are then highlighted in the image, and the overall image is displayed on a screen.
- the object of the invention is to provide a method and a device with which the vehicle while driving from behind approaching or located in front of the vehicle objects (relevant objects) detected, recognized and can be displayed in Wahmehmungs Kunststoff the driver, the driver reduced information notices are transmitted.
- Relevant objects are those that approach the vehicle while driving from behind or are located in front of the vehicle, be it on its own or on an adjacent lane.
- Distance, position, absolute or relative speed (approach speed) can be used as parameters for detection. It can be made for the assessment of relevance, a relationship between distance and / or position and approach speed. This means that only those objects that could approach the vehicle threateningly within a certain period of time (approach time) are identified as relevant, that is to say that the object or other vehicle has a higher speed than the own vehicle.
- the relevant objects on the display the driver's attention is focused on these objects, and he can easily decide whether the maneuvers he plans are safe.
- a ranking of the objects is generated and only a predetermined number of relevant objects are marked.
- the signals emanating from the image capture device can be processed with image processing or evaluation systems known per se.
- the image signal may be split and part displayed directly on the display while another part is being evaluated to identify relevant objects.
- the speed of the approach can be determined, for example, by comparing the sizes of one and the same object in temporally successive image sequences.
- the distance can be determined, for example, by comparing the size of the imaged object with dimensions typical for the identified object and present in a memory.
- Relevant objects can then be detected, for example, by means of predetermined limit values, for example for distance, approach speed or approach time, which may depend on the driving conditions, such as direction of travel or speed.
- the relevant objects can then be marked or enlarged and the resulting image superimposed on the image of the first partial signal.
- the measurement of the distance is assisted by the use of distance sensors.
- the marking of the relevant objects in the display for example, by colored deposit, encircling, superposition with a symbol, enlarged or flashing display done.
- an electronic camera for example a CCD camera
- a CCD camera is preferably used in the method according to the invention. If, by design, an image capture device is insufficient to capture the entire back space, several such devices may be applied, displaying the images produced by them side-by-side.
- Any suitable display device may be used as the display, for example CRT monitors, LCD (liquid crystal displays) or head-up displays, LCD (liquid crystal displays) or head-up displays.
- LCD or head-up displays are used. The latter have the advantage that the driver does not need to avert the line of sight from the outside world and his attention is not distracted forward.
- additional information is preferably displayed for the marked objects. These can be numbers of the distance, the approach speed and / or the Be approach time. This information can also be displayed by other, for example, colored, characters.
- the marking of the objects is accompanied by acoustic signals. This will assist recognition by the driver. These may be, for example, beep or chime signals, but also voice signals containing additional information, e.g. about the direction in which the marked object is located.
- the image information if necessary including the markings, are stored.
- storage can be limited to a specific fixed or selectable period of time, and the storage can be overwritten continuously.
- the driver can intervene in the process interactively. For example, it can delete the mark of unnecessarily marked objects, designate certain objects as relevant, and mark them, control their storage, or restrict the recognition of relevant objects to certain directions. These interventions can be done for example by touching certain parts of the display or by voice commands.
- the engagement may also be coupled to the operation of certain controls such as the steering wheel, shift lever or direction indicator. For example, when approaching the detection of relevant objects can be limited to the lane adjacent to the left.
- the method according to the invention can not only be used advantageously in normal driving operation. It also draws attention to relevant objects when driving slowly, for example when reversing. For example, the attention of the driver may be directed to children or animals standing on the back of the vehicle
- the method according to the invention can not only be used advantageously in normal driving operation. It also does when driving slowly, e.g. when reversing, pay attention to relevant objects. For example, the attention of the driver to be directed to children or animals that move from behind the vehicle and are not visible in the rearview mirror.
- the method can also be used to detect and measure parking spaces, if necessary with the aid of interactive interventions.
- Figure 1 shows the two lanes 1 and 2 of a lane with traffic in the same direction, for example, in a highway.
- Vehicle 3 moves at the speed v1 and is equipped with devices for carrying out the method according to the invention, namely an electronic camera 6, a head-up display 7 and the image evaluation devices not shown here.
- Two vehicles 4 and 5 are located on the lane behind the vehicle 3.
- Vehicle 4 also runs at speed v1 at a sufficient safety distance from vehicle 3.
- Vehicle 5 is traveling at the speed v2> v1 on the left lane 2 of the lane. Both vehicles are detected by the electronic camera 6 and displayed on the display 7 via the image evaluation system.
- FIG. 2 shows an enlarged view of the display 7. Both vehicles are shown on the display, namely 14 is the image of the vehicle 4 and 15, the image of the vehicle 5. Since vehicle 4 runs at the same speed as the vehicle 3, the changes Distance between the two not, so that vehicle 4 is not recognized by the Schmausagonist as relevant. In contrast, vehicle 5 is rapidly approaching the vehicle 3 since v2> v1. Vehicle 5 is thus a relevant object and is highlighted in the display by a red ring 16. In this way, the driver is informed that he can not switch without risk to the lane 2.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
- Instrument Panels (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Einrichtung zur Anzeige von Objekten, die sich vor oder hinter einem Fahrzeug befinden, insbesondere von Objekten, die sich von hinten nähern oder an die sich das Fahrzeug bei Rückwärtsfahrt annähert.The invention relates to a method and a device for displaying objects which are located in front of or behind a vehicle, in particular objects which approach from behind or to which the vehicle approaches when driving backwards.
Im allgemeinen Fahrbetrieb blickt der Führer eines Fahrzeugs nach vorn. Der durch Rückspiegel kontrollierbare Bereich ist im allgemeinen eingeschränkt. Durch Wenden des Kopfes kann der Fahrzeugführer zwar einen größeren Bereich übersehen, jedoch bleibt ein mehr oder weniger großer Bereich durch Fahrzeugteile oder Ladung verdeckt. Zudem verliert er vorübergehend die Übersicht nach vorn. Im Raum hinter dem Fahrzeug befinden sich jedoch häufig Objekte, die von sich aus oder auch hinsichtlich geplanter Manöver wie Rückwärtsfahren, Bremsen oder Spurwechsel eine Gefährdung bedeuten können.In general driving, the driver of a vehicle looks ahead. The mirror-controllable range is generally limited. Although the driver can overlook a larger area by turning his head, a more or less large area remains covered by vehicle parts or cargo. In addition, he temporarily loses the overview to the front. In the room behind the vehicle, however, are often objects that may mean a hazard by itself or in terms of planned maneuvers such as reversing, braking or lane change.
Es sind Verfahren bekannt, mit denen der Raum hinter einem Fahrzeug überwacht werden kann. So beschreibt die DE 19 70 793 die Registrierung und Speicherung von hinter dem Fahrzeug befindlichen Objekten zur Beweissicherung im Falle einer Gefährdung oder eines Unfalls. Die Patentanmeldung DE 43 45 147 schlägt vor, den rückwärtigen Bereich mit einer Videokamera aufzunehmen und das Bild auf einem Monitor wiederzugeben. Dadurch soll die Funktion des Rückspiegels unterstützt oder ersetzt werden.Methods are known for monitoring the space behind a vehicle. Thus, DE 19 70 793 describes the registration and storage of objects located behind the vehicle for preserving evidence in the event of a hazard or accident. The patent application DE 43 45 147 proposes to record the rear area with a video camera and reproduce the image on a monitor. This is to support or replace the function of the rearview mirror.
Bei diesen Verfahren werden jedoch alle hinter dem Fahrzeug vorhandenen Objekte dargestellt und die relevanten Objekte, d.h. diejenigen, von denen eine Gefährdung ausgehen kann, müssen vom Fahrzeugführer selbst erkannt werden. Beispielsweise ist es auf mehrspurigen Fahrbahnen für ihn wichtig, zu wissen, welche Fahrzeuge auf der eigenen oder auf benachbarten Spuren sich so schnell annähern, daß eine Gefährdung bei einem Spurwechsel nicht ausgeschlossen werden kann. Nur solche Fahrzeuge sind relevant für die Entscheidungen des Fahrzeugführers. Diese Informationen können mit den bekannten Verfahren nicht erhalten werden.In these methods, however, all present behind the vehicle objects are displayed and the relevant objects, ie those that can pose a threat must be recognized by the driver. For example, it is important to him on multi-lane lanes to know which vehicles on his own or on neighboring lanes approach each other so quickly that a hazard in a lane change can not be ruled out. Only such vehicles are relevant to the decisions of the driver. This information can not be obtained by the known methods.
In der JP 09048282 A ist ein System zur indirekten visuellen Bestätigung von Objekten, welche sich einem Fahrzeug von hinten nähern, offenbart. Dabei wird mittels einer Kamera ein Bild des rückwärtigen Fahrzeugraums aufgenommen. Eine Bildauswertung analysiert dann das Bild nach Objekten, welche einer Sicherheitsbestätigung bedürfen. Diese Objekte werden anschließend im Bild markiert, und das Gesamtbild wird auf einem Bildschirm dargestellt.JP 09048282 A discloses a system for the indirect visual confirmation of objects approaching a vehicle from behind. In this case, a picture of the rear vehicle compartment is taken by means of a camera. An image analysis then analyzes the image for objects that require a security confirmation. These objects are then highlighted in the image, and the overall image is displayed on a screen.
Aufgabe der Erfindung ist es, ein Verfahren und eine Einrichtung anzugeben, mit dem sich dem Fahrzeug während der Fahrt von hinten nähernde oder sich vor dem Fahrzeug befindende Objekte (relevante Objekte) erfaßt, erkannt und im Wahmehmungsbereich des Fahrzeugführers dargestellt werden können, wobei dem Fahrzeugführer reduzierte Informationshinweise übermittelt werden.The object of the invention is to provide a method and a device with which the vehicle while driving from behind approaching or located in front of the vehicle objects (relevant objects) detected, recognized and can be displayed in Wahmehmungsbereich the driver, the driver reduced information notices are transmitted.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen nach Anspruch 1 bzw. durch eine Einrichtung mit den Merkmalen nach Anspruch 11 gelöst.This object is achieved by a method having the features of
Als relevant werden solche Objekte erkannt, die sich dem Fahrzeug während der Fahrt von hinten nähern bzw. sich vor dem Fahrzeug befinden, sei es auf der eigenen oder auf einer benachbarten Spur. Als Parameter für die Erkennung können Entfernung, die Position, absolute oder relative Geschwindigkeit (Annäherungsgeschwindigkeit) dienen. Dabei kann für die Beurteilung der Relevanz eine Beziehung zwischen Entfernung und/oder Position und Annäherungsgeschwindigkeit hergestellt werden. Das bedeutet, daß nur solche Objekte als relevant erkannt werden, die sich dem Fahrzeug innerhalb einer gewissen Zeitspanne (Annäherungszeit) bedrohlich nähern könnten, das heißt, daß das Objekt oder Fremdfahrzeug eine höhere Geschwindigkeit aufweist als das eigene Fahrzeug. Durch die Markierung der relevanten Objekte im Display wird die Aufmerksamkeit des Fahrzeugführers auf diese Objekte konzentriert, und er kann leicht entscheiden, ob die von ihm geplanten Manöver gefahrlos möglich sind. Dabei wird zuvor eine Rangordnung der Objekte erzeugt und nur eine vorgegebene Anzahl der relevanten Objekte markiert. Dies kann beispielsweise nach der Entfernung, der Richtung, der Fahrspur, der Annäherungsgeschwindigkeit oder der Annäherungszeit geschehen. Dabei wird nur eine vorgegebene Anzahl der meist relevanten Objekte markiert. Dadurch kann die Aufmerksamkeit des Fahrzeugführers z.B. auf ein Fahrzeug gelenkt werden, das die Spur wechselt und beschleunigt, und zugleich die Markierung von einem weniger relevanten Objekt weggelassen werden. Es wird vermieden, daß der Fahrzeugführer durch eine zu große Zahl markierter Objekte verwirrt wird.Relevant objects are those that approach the vehicle while driving from behind or are located in front of the vehicle, be it on its own or on an adjacent lane. Distance, position, absolute or relative speed (approach speed) can be used as parameters for detection. It can be made for the assessment of relevance, a relationship between distance and / or position and approach speed. This means that only those objects that could approach the vehicle threateningly within a certain period of time (approach time) are identified as relevant, that is to say that the object or other vehicle has a higher speed than the own vehicle. By marking the relevant objects on the display, the driver's attention is focused on these objects, and he can easily decide whether the maneuvers he plans are safe. Here, a ranking of the objects is generated and only a predetermined number of relevant objects are marked. This can be done for example according to the distance, the direction, the lane, the approach speed or the approach time. Only a predefined number of the most relevant objects will be marked. As a result, the driver's attention can be directed, for example, to a vehicle that changes lanes and accelerates, and at the same time omits the marking from a less relevant object. It is avoided that the driver is confused by an excessive number of marked objects.
Die von der Bilderfassungseinrichtung ausgehenden Signale können mit an sich bekannten Bildaufbereitungs- oder auswertesystemen verarbeitet werden. Beispielsweise kann das Bildsignal gespalten und ein Teil unmittelbar auf dem Display angezeigt werden, während ein anderer Teil ausgewertet wird, um relevante Objekte zu identifizieren. Die Geschwindigkeit der Annäherung kann beispielsweise durch Größenvergleich ein und desselben Objektes in zeitlich aufeinander folgenden Bildsequenzen ermittelt werden. Die Entfernung kann beispielsweise durch Vergleich der Größe des abgebildeten Objektes mit für das identifizierte Objekt typischen und in einem Speicher vorhandenen Abmessungen bestimmt werden. Relevante Objekte können dann beispielsweise mittels vorgegebener Grenzwerte, beispielsweise für Entfernung, Annäherungsgeschwindigkeit oder Annäherungszeit, die von den Fahrbedingungen, wie Fahrtrichtung oder Geschwindigkeit, abhängen können, erfaßt werden. Die relevanten Objekte können dann markiert oder vergrößert dargestellt und das so erhaltene Bild mit dem Bild des ersten Teilsignals überlagert werden.The signals emanating from the image capture device can be processed with image processing or evaluation systems known per se. For example, the image signal may be split and part displayed directly on the display while another part is being evaluated to identify relevant objects. The speed of the approach can be determined, for example, by comparing the sizes of one and the same object in temporally successive image sequences. The distance can be determined, for example, by comparing the size of the imaged object with dimensions typical for the identified object and present in a memory. Relevant objects can then be detected, for example, by means of predetermined limit values, for example for distance, approach speed or approach time, which may depend on the driving conditions, such as direction of travel or speed. The relevant objects can then be marked or enlarged and the resulting image superimposed on the image of the first partial signal.
Bei einer bevorzugten Ausführungsform der Erfindung wird die Messung der Entfernung durch den Einsatz von Abstandssensoren unterstützt.In a preferred embodiment of the invention, the measurement of the distance is assisted by the use of distance sensors.
Die Markierung der relevanten Objekte im Display kann beispielsweise durch farbige Hinterlegung, Einkreisung, Überlagerung mit einem Symbol, vergrößerte oder blinkende Darstellung erfolgen.The marking of the relevant objects in the display, for example, by colored deposit, encircling, superposition with a symbol, enlarged or flashing display done.
Als Bilderfassungseinrichtung wird in dem erfindungsgemäßen Verfahren bevorzugt eine elektronische Kamera, beispielsweise eine CCD-Kamera verwendet. Wenn bauartbedingt eine Bilderfassungseinrichtung nicht ausreicht, um den gesamten rückwärtigen Raum zu erfassen, können auch mehrere solche Einrichtungen angewendet werden, wobei die von diesen erzeugten Bilder nebeneinander angezeigt werden.As an image capture device, an electronic camera, for example a CCD camera, is preferably used in the method according to the invention. If, by design, an image capture device is insufficient to capture the entire back space, several such devices may be applied, displaying the images produced by them side-by-side.
Als Display kann jede geeignete Anzeigevorrichtung verwendet werden, beispielsweise Bildröhrenmonitore, LCD (Liquid Crystal Displays = Flüssigkristallanzeigevorrichtungen) oder Head up-Displays, LCD (Liquid Crystal Displays = Flüssigkristallanzeigevorrichtungen) oder Head up-Displays. Bevorzugt werden LCD oder Head up-Displays eingesetzt. Letztere haben den Vorteil, daß der Fahrzeugführer die Blickrichtung nicht von der Außenwelt abzuwenden braucht und seine Aufmerksamkeit nach vorn nicht abgelenkt wird.Any suitable display device may be used as the display, for example CRT monitors, LCD (liquid crystal displays) or head-up displays, LCD (liquid crystal displays) or head-up displays. Preferably, LCD or head-up displays are used. The latter have the advantage that the driver does not need to avert the line of sight from the outside world and his attention is not distracted forward.
Bevorzugt werden im Display bei den markierten Objekten zusätzliche Informationen angezeigt. Dies können Zahlenangaben der Entfernung, der Annäherungsgeschwindigkeit und/oder der Annäherungszeit sein. Diese Angaben können auch durch andere, beispielsweise farbige, Zeichen angezeigt werden.In the display, additional information is preferably displayed for the marked objects. These can be numbers of the distance, the approach speed and / or the Be approach time. This information can also be displayed by other, for example, colored, characters.
Weiter bevorzugt wird die Markierung der Objekte von akustischen Signalen begleitet. Dadurch wird die Erkennung durch den Fahrzeugführer unterstützt. Dies können beispielsweise Pieps- oder Gongsignale, aber auch Sprachsignale sein, die zusätzliche Informationen, z.B. über die Richtung, in der sich das markierte Objekt befindet, liefern.More preferably, the marking of the objects is accompanied by acoustic signals. This will assist recognition by the driver. These may be, for example, beep or chime signals, but also voice signals containing additional information, e.g. about the direction in which the marked object is located.
Vorteilhaft kann die Bildinformation, ggf. einschließlich der Markierungen, gespeichert werden. Zur Begrenzung der erforderlichen Speicherkapazität kann die Speicherung auf einen bestimmten festgelegten oder wählbaren Zeitraum beschränkt und der Speicher laufend überschrieben werden.Advantageously, the image information, if necessary including the markings, are stored. To limit the required storage capacity, storage can be limited to a specific fixed or selectable period of time, and the storage can be overwritten continuously.
Ebenfalls bevorzugt kann der Fahrzeugführer in das Verfahren interaktiv eingreifen. So kann er beispielsweise die Markierung unnötig markierter Objekte löschen, bestimmte Objekte als relevant bezeichnen und ihre Markierung veranlassen, die Speicherung steuern oder die Erkennung relevanter Objekte auf bestimmte Richtungen beschränken. Diese Eingriffe können beispielsweise durch Berühren bestimmter Stellen des Displays oder durch Sprachkommandos erfolgen. Der Eingriff kann auch mit der Betätigung bestimmter Bedienelemente, wie Lenkrad, Schalthebel oder Fahrtrichtungsanzeiger gekoppelt sein. Beispielsweise kann beim Anfahren die Erkennung relevanter Objekte auf die links angrenzende Fahrspur beschränkt werden.Also preferably, the driver can intervene in the process interactively. For example, it can delete the mark of unnecessarily marked objects, designate certain objects as relevant, and mark them, control their storage, or restrict the recognition of relevant objects to certain directions. These interventions can be done for example by touching certain parts of the display or by voice commands. The engagement may also be coupled to the operation of certain controls such as the steering wheel, shift lever or direction indicator. For example, when approaching the detection of relevant objects can be limited to the lane adjacent to the left.
Da für die Beurteilung der Relevanz nicht nur Abstand und die Annäherungsgeschwindigkeit des rückwärtigen Objekts, sondern auch die Fahrbedingungen des eigenen Fahrzeugs, Geschwindigkeit, Steigung und Krümmung der Fahrbahn, maßgeblich sein können, werden beim erfindungsgemäßen Verfahren bevorzugt auch Geschwindigkeitssensoren, Fahrstreckensensoren und GPS-Informationen, gegebenenfalls in Verbindung mit in einem Speicher vorliegender topographischer Information, eingesetzt.
Das erfindungsgemäße Verfahren läßt sich nicht nur vorteilhaft beim normalen Fahrbetrieb anwenden. Es macht auch bei langsamer Fahrt, z.B. beim Rückwärtsfahren, auf relevante Objekte aufmerksam. Beispielsweise kann die Aufmerksamkeit des Fahrzeugführers auf Kinder oder Tiere gelenkt werden, die sich von hinten auf dasSince not only the distance and the approach speed of the rear object but also the driving conditions of the own vehicle, speed, inclination and curvature of the roadway can be decisive for the assessment of the relevance, speed sensors, travel distance sensors and GPS information are also preferred in the method according to the invention. optionally in combination with topographical information present in a memory.
The method according to the invention can not only be used advantageously in normal driving operation. It also draws attention to relevant objects when driving slowly, for example when reversing. For example, the attention of the driver may be directed to children or animals standing on the back of the vehicle
Das erfindungsgemäße Verfahren läßt sich nicht nur vorteilhaft beim normalen Fahrbetrieb anwenden. Es macht auch bei langsamer Fahrt, z.B. beim Rückwärtsfahren, auf relevante Objekte aufmerksam. Beispielsweise kann die Aufmerksamkeit des Fahrzeugführers auf Kinder oder Tiere gelenkt werden, die sich von hinten auf das Fahrzeug zu bewegen und im Rückspiegel nicht zu sehen sind. Auch zum Erkennen und Ausmessen von Parklücken läßt sich das Verfahren, ggf. mit Hilfe interaktiver Eingriffe, anwenden.The method according to the invention can not only be used advantageously in normal driving operation. It also does when driving slowly, e.g. when reversing, pay attention to relevant objects. For example, the attention of the driver to be directed to children or animals that move from behind the vehicle and are not visible in the rearview mirror. The method can also be used to detect and measure parking spaces, if necessary with the aid of interactive interventions.
Die Erfindung wird im folgenden anhand eines Ausführungsbeispiels weiter erläutert:The invention will be further explained below with reference to an exemplary embodiment:
Figur 1 zeigt die beiden Fahrspuren 1 und 2 einer Fahrbahn mit Verkehr in der gleichen Richtung, beispielsweise bei einer Autobahn. Fahrzeug 3 bewegt sich mit der Geschwindigkeit v1 und ist mit Einrichtungen zur Ausführung des erfindungsgemäßen Verfahrens ausgerüstet, nämlich einer elektronischen Kamera 6, einem Head up-Display 7 und den hier nicht gezeigten Bildauswerteeinrichtungen. Zwei Fahrzeuge 4 und 5 befinden sich auf der Fahrbahn hinter dem Fahrzeug 3. Fahrzeug 4 fährt ebenfalls mit Geschwindigkeit v1 in ausreichendem Sicherheitsabstand zu Fahrzeug 3. Fahrzeug 5 fährt mit der Geschwindigkeit v2 > v1 auf der linken Fahrspur 2 der Fahrbahn. Beide Fahrzeuge werden von der elektronischen Kamera 6 erfaßt und über das Bildauswertesystem auf dem Display 7 dargestellt.Figure 1 shows the two
Figur 2 zeigt eine vergrößerte Darstellung des Displays 7. Beide Fahrzeuge werden auf dem Display dargestellt, und zwar ist 14 das Bild des Fahrzeugs 4 und 15 das Bild des Fahrzeugs 5. Da Fahrzeug 4 mit der gleichen Geschwindigkeit wie Fahrzeug 3 fährt, verändert sich der Abstand zwischen beiden nicht, so daß Fahrzeug 4 vom Bildauswertesystem nicht als relevant erkannt wird. Dagegen nähert sich Fahrzeug 5 rasch dem Fahrzeug 3, da v2 > v1 ist. Fahrzeug 5 ist also ein relevantes Objekt und wird im Display durch einen roten Ring 16 hervorgehoben. Auf diese Weise wird der Fahrzeugführer informiert, daß er nicht ohne Risiko auf die Fahrspur 2 wechseln kann.Figure 2 shows an enlarged view of the
- 1, 21, 2
- Fahrspurenlanes
- 33
- Fahrzeug, das neue Verfahren anwendendVehicle, applying the new procedure
- 4, 54, 5
- andere Fahrzeugeother vehicles
- 66
- elektronische Kameraelectronic camera
- 77
- Head up-DisplayHead-Up Display
- 1414
-
Bild des Fahrzeugs 4Image of the
vehicle 4 - 1515
-
Bild des Fahrzeugs 5Image of the
vehicle 5 - 1616
-
Markierung des Fahrzeugs 5Marking of the
vehicle 5 - v1v1
-
Geschwindigkeit der Fahrzeuge 3 und 4Speed of
vehicles - v2v2
-
Geschwindigkeit des Fahrzeugs 5Speed of the
vehicle 5
Claims (11)
- Method for displaying objects which are located behind a vehicle (3), an image of the space in front of and behind the vehicle (3) being recorded with at least one imaging device and the image being represented on a display (7) in the field of vision of the driver of the vehicle, characterized in that objects which approach the vehicle (3) from behind during travel or objects which are located in front of the vehicle (3) are detected as a function of the travel situation and marked on the display (7) and/or emphasized by enlargement, a ranking of the objects being generated and only a predefined number of the most relevant objects being marked.
- Method according to Claim 1, characterized in that objects are detected as relevant objects as a function of their speed and/or the relative speed and/or their distance and/or their instantaneous position with respect to the vehicle (3).
- Method according to Claim 1 or 2, characterized in that an electronic camera (6) is used as an imaging device.
- Method according to one of Claims 1 to 3, characterized in that an LCD or head-up display is used as display (7).
- Method according to one of the preceding claims, characterized in that the approach time and/or approach speed are additionally specified numerically or by characters on the display (7) for objects which are detected as relevant.
- Method according to one of the preceding claims, characterized in that the marking of the objects is accompanied by acoustic signals.
- Method according to one of the preceding claims, characterized in that the image information, if appropriate including the markings, is stored.
- Method according to Claim 7, characterized in that the storage is restricted to a defined or selectable time period.
- Method according to one of the preceding claims, characterized in that it can be influenced interactively by the driver of the vehicle.
- Method according to one of the preceding claims, characterized in that the detection of relevant objects is supported by speed sensors, distance sensors, and/or GPS.
- Device for displaying objects which are located behind a vehicle (3), with at least one imaging device with which an image of the space in front of or behind the vehicle (3) can be taken, and with a display (7) in the field of vision of the driver of the vehicle for reproducing the image, characterized in that an image evaluation system is provided with which objects which approach the vehicle (3) from behind during travel or are located in front of the vehicle (3) can be detected as a function of the travel situation and marked on the display (7) and/or can be emphasized by enlargement, a ranking of the objects being generated and only a predefined number of the most relevant objects being marked.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19911648 | 1999-03-16 | ||
| DE19911648A DE19911648A1 (en) | 1999-03-16 | 1999-03-16 | Procedure for displaying objects |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP1037189A2 EP1037189A2 (en) | 2000-09-20 |
| EP1037189A3 EP1037189A3 (en) | 2002-10-09 |
| EP1037189B1 true EP1037189B1 (en) | 2006-08-09 |
Family
ID=7901141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP00104412A Expired - Lifetime EP1037189B1 (en) | 1999-03-16 | 2000-03-02 | Method to display objects for vehicle |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1037189B1 (en) |
| AT (1) | ATE336055T1 (en) |
| DE (2) | DE19911648A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022212489A1 (en) | 2022-11-23 | 2024-05-23 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and control device for operating a motorcycle in a formation of motorcycles |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10048102A1 (en) * | 2000-09-28 | 2002-04-18 | Adc Automotive Dist Control | Method for operating a driver assistance system for motor vehicles |
| US6496117B2 (en) * | 2001-03-30 | 2002-12-17 | Koninklijke Philips Electronics N.V. | System for monitoring a driver's attention to driving |
| KR100435650B1 (en) * | 2001-05-25 | 2004-06-30 | 현대자동차주식회사 | Detection method of road condition in a vehicle equipped with a camera, and method for detecting distance between vehicles in the same vehicle |
| DE10247563A1 (en) * | 2002-10-11 | 2004-04-22 | Valeo Schalter Und Sensoren Gmbh | Method and system for assisting the driver |
| DE10329054A1 (en) * | 2003-06-27 | 2005-01-13 | Volkswagen Ag | Collision object recognition system |
| DE10347168A1 (en) * | 2003-10-06 | 2005-04-21 | Valeo Schalter & Sensoren Gmbh | Maneuvering aid for motor vehicles |
| DE10348109A1 (en) * | 2003-10-16 | 2005-05-19 | Bayerische Motoren Werke Ag | Method and device for visualizing a vehicle environment |
| DE10351985A1 (en) * | 2003-11-07 | 2005-06-16 | Audi Ag | motor vehicle |
| DE102004047475A1 (en) * | 2004-09-30 | 2006-04-13 | Robert Bosch Gmbh | Method for directing the attention of a driver of a vehicle to objects in a picture |
| WO2006042565A2 (en) * | 2004-10-19 | 2006-04-27 | Daimlerchrysler Ag | Process for displaying objects in the proximity of a vehicle |
| DE102005054972A1 (en) * | 2005-10-27 | 2007-05-03 | Daimlerchrysler Ag | Motor vehicle`s dead angle monitoring method, involves accomplishing checking of whether lanes change is accomplished based on infrastructure of traffic before warning, where driver warning is omitted if result of checking is not possible |
| DE102006008981A1 (en) * | 2006-02-23 | 2007-08-30 | Siemens Ag | Driver assistance system for motor vehicle, has determination unit that combines data with signals from channels during detection of objects/situation by sensors and video sources with respect to control/influence of interface module |
| DE102006031895B4 (en) * | 2006-07-07 | 2014-03-27 | Continental Automotive Gmbh | Display system for the visualization of vehicle distances |
| US7797108B2 (en) * | 2006-10-19 | 2010-09-14 | Gm Global Technology Operations, Inc. | Collision avoidance system and method of aiding rearward vehicular motion |
| DE102006060905A1 (en) * | 2006-12-20 | 2008-06-26 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for supporting longitudinal guiding of ego vehicle following guiding vehicle during speed deceleration produced by guiding vehicle, involves transferring speed delay of guiding vehicle at adjacent ego vehicle |
| DE102007060757A1 (en) * | 2007-12-17 | 2009-07-02 | Jafari Abolfazl Saberi | Collision warning system i.e. collision prewarning system, for avoiding collision of car with two-wheeler driver in e.g. road area, has controlling and evaluation device evaluating received signals regarding distance to two-wheeler driver |
| DE102011107875A1 (en) * | 2011-07-18 | 2013-01-24 | Marquardt Gmbh | Method for assisting lane change for e.g. passenger car, involves determining time required by approaching vehicle to reach motor vehicle, and outputting warning to driver of approaching vehicle when time falls below predetermined value |
| DE102012200762A1 (en) | 2012-01-19 | 2013-07-25 | Robert Bosch Gmbh | Method for signaling traffic condition in environment of vehicle, involves recording surrounding area of vehicle using sensor, and indicating recognized sensitive object on display arranged in rear view mirror housing of vehicle |
| JP6142784B2 (en) | 2013-11-27 | 2017-06-07 | 株式会社デンソー | Driving assistance device |
| DE102013226773A1 (en) * | 2013-12-19 | 2015-06-25 | Volkswagen Aktiengesellschaft | Apparatus, method and computer program for assisting a course change of a vehicle |
| DE102014012781B4 (en) * | 2014-08-29 | 2023-08-10 | Audi Ag | Lane change assistant, associated method of operation and motor vehicle |
| DE102016212687A1 (en) | 2016-07-12 | 2018-01-18 | Audi Ag | Method for operating a display device of a motor vehicle |
| DE102023207620A1 (en) | 2023-08-08 | 2025-02-13 | Volkswagen Aktiengesellschaft | Method for operating a driver information system and driver information system |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2646383B3 (en) * | 1989-04-28 | 1991-08-23 | Renault | METHOD AND DEVICE FOR DETECTING OBSTACLES FOR MOTOR VEHICLES |
| JPH02299944A (en) * | 1989-05-15 | 1990-12-12 | Clarion Co Ltd | Rear confirming device mounted on car |
| DE4005444A1 (en) * | 1990-02-21 | 1991-08-22 | Bayerische Motoren Werke Ag | METHOD AND DEVICE FOR SUPPORTING A DRIVER FOR A ROAD TRACK CHANGE |
| US5303205A (en) * | 1990-02-26 | 1994-04-12 | Trend Tec Inc. | Vehicular distance measuring system with integral mirror display |
| US5237406A (en) * | 1991-02-08 | 1993-08-17 | Mitsubishi Denki K.K. | Inter-car distance detecting device |
| DE4214817C2 (en) * | 1992-05-05 | 1994-03-03 | Daimler Benz Ag | Method for displaying the speed-related danger of the driving situation of a vehicle, and device for carrying out the method |
| IT1256956B (en) * | 1992-10-05 | 1995-12-27 | Gilardini Spa | DEVICE TO DETECT RELATIVE POSITIONS BETWEEN VEHICLES, MAINLY IN ANTI-COLLISION FUNCTION. |
| US5670935A (en) * | 1993-02-26 | 1997-09-23 | Donnelly Corporation | Rearview vision system for vehicle including panoramic view |
| DE4345147B4 (en) * | 1993-10-06 | 2006-05-11 | Dornier, Irén | Motor vehicle with at least one rear-facing video camera |
| DE4336288C1 (en) * | 1993-10-25 | 1995-03-30 | Daimler Benz Ag | Device for monitoring the rear or front space of a parking motor vehicle |
| JPH07290995A (en) * | 1994-04-26 | 1995-11-07 | Olympus Optical Co Ltd | Display device for vehicle |
| US5414439A (en) * | 1994-06-09 | 1995-05-09 | Delco Electronics Corporation | Head up display with night vision enhancement |
| JPH08167100A (en) * | 1994-12-12 | 1996-06-25 | Hisaji Nakamura | Steering device |
| JPH0948282A (en) * | 1995-08-08 | 1997-02-18 | Mazda Motor Corp | Indirect visual confirmation device for vehicle |
| JPH09202180A (en) * | 1996-01-29 | 1997-08-05 | Niles Parts Co Ltd | On-board camera device |
| DE19638703A1 (en) * | 1996-09-21 | 1998-04-02 | Moecom Handelsgesellschaft Fue | Obstruction warning method for vehicle driver |
| DE19700793A1 (en) * | 1997-01-13 | 1998-07-16 | Mackert Roland Dr Dipl Kaufm | Arrangement for monitoring following road traffic |
-
1999
- 1999-03-16 DE DE19911648A patent/DE19911648A1/en not_active Withdrawn
-
2000
- 2000-03-02 AT AT00104412T patent/ATE336055T1/en not_active IP Right Cessation
- 2000-03-02 DE DE50013286T patent/DE50013286D1/en not_active Expired - Lifetime
- 2000-03-02 EP EP00104412A patent/EP1037189B1/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022212489A1 (en) | 2022-11-23 | 2024-05-23 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and control device for operating a motorcycle in a formation of motorcycles |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1037189A2 (en) | 2000-09-20 |
| DE50013286D1 (en) | 2006-09-21 |
| EP1037189A3 (en) | 2002-10-09 |
| DE19911648A1 (en) | 2000-09-21 |
| ATE336055T1 (en) | 2006-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1037189B1 (en) | Method to display objects for vehicle | |
| EP3437929B1 (en) | Visual system with visual field/view area display depending on the driving situation | |
| EP1147032B1 (en) | Device for monitoring the surrounding area of a vehicle during parking | |
| EP2129569B1 (en) | Maneuvering aid and method for aiding drivers of vehicles or vehicle combinations comprising vehicle elements bendable relative to one another | |
| EP1642768B1 (en) | Procedure for displaying the vehicle driving area | |
| DE10037130B4 (en) | Parking and / or Rangierhilfeeinrichtung for cars or trucks | |
| EP3219533B1 (en) | Viewing system for a motor vehicle, in particular a commercial vehicle | |
| EP2998937B1 (en) | Display apparatus for vehicles, in particular for commercial vehicles | |
| WO2012062573A1 (en) | Method for generating an image of the surroundings of a vehicle and imaging device | |
| WO2007036397A1 (en) | Night vision device for a motor vehicle | |
| EP3539826B1 (en) | Driver assistance system and method for a motor vehicle for displaying augmented reality displays | |
| EP3695395A1 (en) | Method for reproducing the surroundings of a vehicle | |
| DE102009046726A1 (en) | Method for detecting and selecting e.g. longitudinal parking spaces, for aiding driver of car for transporting persons or materials, involves displaying surfaces as possible parking spaces, and selecting suitable parking spaces | |
| DE102016122301A1 (en) | Monitoring a blind spot area of a team | |
| DE10321904A1 (en) | Motor vehicle parking assistance system has approach sensors, steering angle sensor and a path traveled sensor linked to an evaluating computer unit | |
| DE102005063445B4 (en) | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements | |
| DE102010051204A1 (en) | Method for displaying obstacle for vehicle, involves detecting area surrounding vehicle with camera system, and detecting obstacles with sensor element independent of camera system | |
| WO2012003945A1 (en) | Device and method for detecting and displaying the rear and/or lateral surroundings of a motor vehicle | |
| DE602005002807T2 (en) | Alarm display device for motor vehicles | |
| DE10307229A1 (en) | Device for monitoring vicinity of motor vehicle to avoid collisions with obstacles, has sensor which detects distance covered, and distance sensor arranged at side of vehicle | |
| DE102016225643A1 (en) | Viewing direction-dependent system for displaying the environment of a vehicle | |
| EP3947246B1 (en) | Method for warehousing assistance for an industrial truck, and industrial truck | |
| DE102018005783A1 (en) | Display device of a motor vehicle, motor vehicle and method for the assistance of a driver of a motor vehicle | |
| DE102019209590A1 (en) | Method for improving the field of vision of a driver of a vehicle | |
| DE102017212917A1 (en) | Control of a motor vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
| AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE |
|
| AX | Request for extension of the european patent |
Free format text: AL;LT;LV;MK;RO;SI |
|
| PUAL | Search report despatched |
Free format text: ORIGINAL CODE: 0009013 |
|
| AK | Designated contracting states |
Kind code of ref document: A3 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE |
|
| AX | Request for extension of the european patent |
Free format text: AL;LT;LV;MK;RO;SI |
|
| 17P | Request for examination filed |
Effective date: 20030409 |
|
| AKX | Designation fees paid |
Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE |
|
| 17Q | First examination report despatched |
Effective date: 20030904 |
|
| GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
| GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
| GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
| AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED. Effective date: 20060809 Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20060809 Ref country code: IE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20060809 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20060809 |
|
| REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
| REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
| REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: GERMAN |
|
| REF | Corresponds to: |
Ref document number: 50013286 Country of ref document: DE Date of ref document: 20060921 Kind code of ref document: P |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20061109 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20061109 |
|
| GBT | Gb: translation of ep patent filed (gb section 77(6)(a)/1977) |
Effective date: 20061024 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20061120 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20070109 |
|
| NLV1 | Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act | ||
| REG | Reference to a national code |
Ref country code: IE Ref legal event code: FD4D |
|
| EN | Fr: translation not filed | ||
| PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
| 26N | No opposition filed |
Effective date: 20070510 |
|
| REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
| BERE | Be: lapsed |
Owner name: VOLKSWAGEN A.G. Effective date: 20070331 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070331 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070331 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070331 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070331 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20061110 Ref country code: FR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20070511 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070302 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20060809 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20070302 Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20060809 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20160331 Year of fee payment: 17 |
|
| PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20160331 Year of fee payment: 17 |
|
| REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 50013286 Country of ref document: DE |
|
| GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20170302 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171003 |
|
| PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20170302 |